🌟INAV🌟 Fixed Wing Stability PIDs Examples

00:00 - INAV Fixed Wing DEFAULT vs. TUNED
01:15 - INAV Fixed Wing AutoTune Moves
03:11 - INAV Profile 2 DEFAULT
03:28 - INAV Fixed Wing D-Term Oscillation
04:36 - INAV Manual Mode
06:01 - INAV I-Gain Tune vs. P.I.D. Gain Tune
08:51 - I-Gain vs. P.I.D. in Cruise Mode
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[@MrD]

That’s not how you’re supposed to autotune with INAV. Stick banging won’t yield good results. You’re supposed to use full stick deflection, then a slight pause, and repeat. Eventually you should do full rolls, and, depending on the airframe, full loops. It will increase the rates until it goes too far, then back them off a little. It adjusts FF to match up with the rates. INAV autotune only adjusts the rates and FF. As these are the most important parts of the tune with fixed wing. P, I, and D are not touched. They are more a personal preference to how you want the aircraft to feel. More natural or more locked in.

[@uavtech]

I did those too. I guess I should have shown that more. Was mostly interested in showing it does not adjust P.I. & D.

[@MrD]

@@uavtech the tuning of the pitch looked more like it. The roll was a bit too quick to roll again. I just watched your other video too. Some really interesting stuff. However a note, as it’s related to roll tuning. One way will roll quicker than the other, due to the rotation of the prop. So it’s worth tuning based on the slower direction. That way the rates and FF aren’t too high for that direction.

[@someonespotatohmm9513]

Any links to the algorithm behind the autotune, or the code? I did a google and found the autotune. md in the git, but that was for users and not developers. (just curious on what is used)

[@JetrellRC]

Good example Mark. Of how much difference a tighter tune can make in reducing roll axis wobble. The hardest part is getting the tune to work over its whole speed range, without airspeed based PID attenuation. If you're up to the challenge, you can use 3 PID profile's with them being switched by logic. Driven by a combination of Virtual pitot airspeed and GPS speed to smooth out the average.

[@uavtech]

need TPA to be able to select GPS 3D Airr Speed as a breakpoint. Of course, better would be Pito Tune

[@stuweFPV]

@@uavtech TPA does not work on wings since it assumes that more throttle = more speed AND before the breakpoint in increases the PID unlike on quads

[@uavtech]

@@stuweFPV right, for wings PIDs should be attenuated based on GPS 3D speed. Not throttle.

[@stuweFPV]

@@uavtech yes 100% agree! i'm using the 3 profiles available with some codes to make it speed based. not ideal but better than nothing

[@AerialWaviator]

Great demo. Excellent presentation, showing both display and transmitter sticks. One of the best teaching setups I've seen. Thanks for making and sharing the INAV content.

[@alexcook4851]

Great to see some iNav tuning videos, thanks for sharing .

[@WinstonSmith1984]

I'm glad to see this series for fixed wings. I also hope the INAV fixed wing filter defaults get adapted in the next version based on this, if the INAV developers think it makes sense. B.t.w. you did choose to tune what is the most awful fixed wing model I've ever flown in terms of natural stability: The Nano Talon has all sorts of weird side affects to rolling and yawing in manual mode, an inconsistent pitch and roll rate (depending on it's attitude), and there is a noticeable amount of play in the mechanical connections, especially for the ailerons. Other than that it is a light and efficient model with a lot of room inside. I just wish it had a shorter nose, no dihedral, and better mechanics.

[@uavtech]

Evo has no Dihedral. They upgraded based on feedback of V1.

[@tubamanandy2]

I think its pretty well known that Autotune only adjusts the FF & rates at the moment

[@DriftaholiC]

I feel like setting P and D to an axis would be useful for tuning a wing.

[@ederdon8470]

Olá, tem alguma explicação de GPS/ compass , estou com uma FC Matek f405te, usando iNav 7, o quad está muito instável, e o RTH não está funcionando bem, toda vez que preciso usar o GPS ele na se comporta legal.

[@uavtech]

Saudações. Se estiver em um quadricóptero --- recomendo calibrar a bússola em campo usando os comandos do stick enquanto ela não estiver armada. Assista a este tutorial: kzbin.info/www/bejne/sJyZaXZjgMd6nrc&pp=ygUXaW5hdiBjb21wYXMgY2FsaWJyYXRpb24%3D Uma vez calibrado, certifique-se de girar o quadrante em uma direção cardinal (N, S, E, W) e observe se o OSD mostra a direção correta. Caso contrário, use a guia de orientação do magnetômetro no configurador para alterar a orientação da bússola. Se o seu magnetômetro estiver no controlador de vôo, ele pode estar recebendo interferência do campo magnético do ESC, etc... É melhor ter o magnetômetro na unidade GPS do que no controlador de vôo. Em seguida, certifique-se de que seu GPS esteja detectando um bloqueio de satélite. 9 em cada 10 vezes, se os modos de navegação não funcionarem bem por padrão, é porque a calibração da bússola está errada. Se for uma asa fixa - eu ainda me certificaria de que a unidade GPS e o magnetômetro estejam orientados e calibrados corretamente, no entanto, o INAV não deve retransmitir tanto no magnetômetro para uma asa fixa.

[@ederdon8470]

@@uavtech obrigado, é sim exatamente um quadcopetero, é um quad clone de TBS Discovery, obrigado por responder.

[@jurijmonzon]

Hello UAVTech. Does your `Critically Damped Stepped Response is P/D = 1.33` stands true for fixed wing too? Thanks

[@uavtech]

Seems like you want to have D higher than P, at least for this model.

[@DJI_Silesia]

Hmm, interesting way of autotuning. From what I understand you need full deflections, not fast shakes, so more like trying to do rolls and loops.

[@uavtech]

yes, it is both for sure.